- Fixed a singlex death when there was no lambda. Was a problem during

shutdown when nothing works as it should
- Made an attempt to have all error message printed on demand
- Added a tricsswap feature to sinqhttp which swaps the data right for SICS
- Edited speed for phytron driver
- First attack on adding a misalignment calculation to tasub
- Added a test protocol for scriptcontext which can be configured.


SKIPPED:
	psi/sinqhttp.c

tasublib.c

@@ -519,6 +519,25 @@ static MATRIX buildRMatrix(MATRIX UB, MATRIX planeNormal,
   mat_free(TV);
   return TVINV;
 }
+/*-------------------------------------------------------------------------------*/
+int calcTasMisalignment(ptasMachine machine, tasQEPosition qe,  double *misalign)
+{
+	MATRIX R;
+    int errorCode = 1;
+    double om;
+
+    R = buildRMatrix(machine->UB, machine->planeNormal, qe, &errorCode);
+    if (R == NULL) {
+      return errorCode;
+    }
+    /**
+     * See below, notes on om
+     */
+    om = Atan2d(R[1][0], R[0][0]);
+    *misalign = om;
+    mat_free(R);
+    return 1;
+}
 
 /*-------------------------------------------------------------------------------*/
 int calcTasQAngles(MATRIX UB, MATRIX planeNormal, int ss, tasQEPosition qe,
@@ -550,7 +569,7 @@ int calcTasQAngles(MATRIX UB, MATRIX planeNormal, int ss, tasQEPosition qe,
      om = atan(R[1][0],R[0][0]) where:
      R[1][0] = sin(om)cos(sgl)
      R[0][0] = cos(om)cos(sgl)
-     The definitions of th R components are taken from M. Lumsden
+     The definitions of the R components are taken from M. Lumsden
      R-matrix definition.
    */